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Questions tagged [ros-canopen]

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Doubt regarding ros2_canopen

I am using a BLDC motor driver mcTools F35. The motor driver works on protocol: DS301, Device profile DS402 Would ros2_canopen work with this driver?
DonaldDuck's user avatar
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Canopen system simulation without master

I would like to build a simulation for canopen system that consist of slave nodes, and than connect this system to a master that we have implemented in rust. For this purpose I am using ROS2_canopen ...
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Modular robot (canopen base+ universal robot arm) controller_manager setup for different hardware interfaces

I have a modular robot composed of a mobile base and an arm. The mobile base is driven with two CANopen-driven joints, while the arm is an UR10e universal robot. I’m able to drive BOTH the mobile base ...
user3632489's user avatar
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1 answer
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Combining UR10e with two canopen driven joints

As the title says, I'm trying to augment the UR10e with additional joints, which are driven with canopen_motor_node. I'm able to drive both the UR10e and the canopen joints separately, but struggling ...
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ros2_canopen implementation motor

I implemented the ros2_canopen Package for my Motor. So, the device started and i configured all the stuff with the yaml file. My yaml file can you see below: ...
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ROS2 CANopen Stack

I'm trying to implement the ros2_canopen package for my Motor. So, i installed the package and set up all the configuration stuff. If i started the launch-file, I get following error message: ...
H10's user avatar
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ROS_CANOpen and EPOS4: internal limit active

I’m trying to use ros_canopen to teleoperate a continuum robot working with 11 maxon motors (combination 538252), each controlled by an EPOS4 (24/1.5 can compact) with 24V power, and a PCAN-USB ...
thisisjesse's user avatar
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1 answer
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Adding Tutorial link automatically to a wiki page

Hi, I've created a tutorial for the ros_canopen package : http://wiki.ros.org/ros_canopen. I made the tutorial according to this guideline : http://wiki.ros.org/WritingTutorials. The tutorial page is ...
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How to change the homing order

Hello, I am trying to home 3 drives in a specific order. Here akosodry asked the same question: Link to another question So what I did was specify the nodes as a list: ...
user avatar
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1 answer
38 views

ros_canopen PDO mapping (Schneider Motor CiA 402)

Hey guys, I'm at a dead-end so in need of some help from the community, please. This question follows on from a closed GitHub issue on ros_canopen. My problem is as follows: I'm unable to do a PDO re-...
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1 answer
56 views

Motor control using ROS, Epos2 and CANOpen

Hello everyone, I happen to be stuck for a few days now by problems some of the forum's members apparently already encountered, whence this question. I hope the latter will not be considered as ...
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1 answer
84 views

catkin_make could not find roslib

Hello everyone, First of all, thank you for this amazingly helpful forum. I have been using ROS for a few months now, but I only decide to write a question here today. My computer runs a 64-bit Debian ...
user avatar
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1 answer
11 views

How to control Faulhaber AES-4096 Motor by using ROS_CANopen?

Hello everyone, I'd like to control (initialize and send can messages) to the Faulhaber motors. I've downloaded the ros_canopen package and I've build it successfully in ubuntu kinetic OS. I've run in ...
user avatar
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2 answers
42 views

ROS_CANopen faults on init

I have a Bechoff CANopen bus terminal I'm trying to interface with. However, the driver fails on init and faults with the following error. I'm fairly new to CAN and am having a hard time debugging ...
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1 answer
23 views

ros_canopen interpolated position mode, time period?

Hello, I'm driving three servos in interpolated position mode via the ros_canopen package. Everything works quite smoothly, only ...
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1 answer
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ros_canopen Profile position + Interpolated position modes

Hello. I'm working on a custom made robotic arm actuated by different motion controllers/motors via ros_canopen. Currently, the motors are controlled in ...
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1 answer
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ros_canopen vel_from_device: (obj606C) issue

Hello, i am using the ros_canopen package to communicate with a BGE 6010 controller manufactured by ...
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1 answer
10 views

command igus-dryve with canopen_motor_node

Hy there, i am trying to implement a controller for a igus-dryve motor drive on ros-kinetic. I am using canopen and the ros_canopen package to communicate over a sysWORXX USBCanmodule 1 with the igus-...
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1 answer
3 views

Emergency error of Schunk PG70

Hello, I want to move a PG70 gripper together with a LWA4P using: HW: Schunk LWA4P Schunk PG70-plus SW: Ubuntu 16.04 ROS kinetic ros_canopen I am perfectly able to move the LWA4P, but when I try ...
user avatar
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1 answer
12 views

motor oscillates after diff_drive_controller configuration

Hello, I have configured the canopen_motor_node of my robot to use a DiffDriveController, but once I start publishing angular velocities in the /cmd_vel topic the movement is not smooth, i.e. the ...
user avatar
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1 answer
4 views

ros_canopen homing simultaneously or one-by-one?

Hello, this question has been addressed in these questions as well (Q1, Q2), however no answer arrived, therefore i'm asking as well. It is not clear from the wiki of ros_canopen that how does the ...
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1 answer
3 views

Schunk LWA4P initialization problem with ros_canopen

Hi, I try to launch a LW4P with ros_canopen. I use ROS kinetic and a PCAN-USB Pro adapter. I already tried out the suggestions on similar problems on ROS answers and on GitHub but unfortunately my ...
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1 answer
18 views

How to use controller_manager with ros_canopen

Hi, I am currently working on controlling two dc motors with integrated controller using ros_canopen, ROS kinetic, ubuntu 16.04. So far I have done steps 1 through 7 in THIS answer. But I am stuck at ...
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1 answer
4 views

ros_canopen reset encoders?

Hello! Is it possible in ros_canopen somehow (e.g., through service call) to reset the encoder/position values? I mean: the robot performs different movements, then ...
user avatar
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1 answer
34 views

Is it possible to use kvaser (can to USB) to read canopen device?

I have a SICK encoder which works with CANOPEN protocol and also I have a KVASER leaf light v2 CAN to USB interface. So my question is if there is a way to use KVASER to read CANOPEN device? Maybe ...
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1 answer
13 views

differential transmission with ros_canopen, HOW to?

Hello ROS Community, I have already tried to ask a similar question here: #q304832, however no answer was received so i am trying to ask again from a different perspective. I am working on the control ...
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2 answers
22 views

roscanopen SDO or PDO for service calls?

If i have an object mapped to a PDO in the canopen EDS and then i go to use the ros-canopen service "set_object" to modify its value, does ros-canopen use SDO or PDO to modify this value in ...
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1 answer
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ros_canopen: virtual joints, is it possible?

Hello, Currently I have three working canopen motor drivers, but my system will consists five motors later (the two missing motors have not been delivered yet). I have already tested some basic ...
user avatar
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2 answers
17 views

[SOLVED] ros_canopen: "Did not receive a response message"

Hello! I have established a working package that drives a servo motor through ros_canopen. The earlier problems with solutions is given in the question: here. Even though i am able to both control the ...
user avatar
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2 answers
40 views

[SOLVED] ros_canopen ERROR after spawning controllers

Hello! The solution is given in the answer section. The original question with different edit parts start here: -------------------------------------------------- ORIGINAL QUESTION ...
user avatar
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1 answer
21 views

CANopen test based on the canopen_test_utils package

Hello, i am trying to communicate with a single motor through CANopen. I had posted earlier about it in this question: #q294210 EDIT (21/06): This question was answered by Mathias Lüdtke. The error ...
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1 answer
54 views

ROS_canopen correct PDO mapping + EDS modifications?

Hello! I have the following setup: Microchip CAN BUS Analyzer + Delta ASDA A2 motor driver + ECMA AC servo motor Later there will be more motors and drivers, but now the goal is to control a single ...
user avatar
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1 answer
21 views

Schunk_lwa4d problem initialising with ros_canopen

Hi, Edit: I also opened issue 276 in ros_canopen github. I am trying to use a schunk_lwa4d arm with an esd CAN-USB/2 in ROS but I have issues initializing it. I am using this launch file in the ...
user avatar
0 votes
1 answer
17 views

Canopen_motor_node, Error document empty

Hi, I'm trying to use the motion controller FAULHABER MCBL 3006 S AES with ros_canopen. It seems there is no tutorial on how to use ros_canopen, the closest i've found is : https://answers.ros.org/...
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1 answer
10 views

canopen_chain_node and init device

How to init vcan0? I need to use can::SocketCANInterface ? ...
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1 answer
2 views

canopen chain node exit with error code -11

When I run the canopen_chain_node's chain the launch with the following yaml file: ...
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1 answer
1 view

Is there any way using ros canopen with JointTrajectoryController by profile position mode

I try to control my motor using canopen by JointTrajectoryController, but my motor driver do not support interpolate position mode, Please some one help me to figured out if I can use profiled ...
user avatar
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1 answer
6 views

canopen_chain_node to read dictionary entries only

I am working with two motors over the can bus. I have a can bus master and I would like to use the canopen_chain_node to only read values from the dictionary using the service getObject. For now I can ...
user avatar
0 votes
1 answer
7 views

profile position mode + ros canopen

Hello, I want to use profile postion mode with ros canopen, but i want the bits in the control word to be set in a certain way, for example: Bit 5: If this bit is set to "1", a travel order ...
user avatar
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1 answer
5 views

Does canopen_chain_node create local node?

Does the canopen_chain_node create a "local" node on the pc with its own object dictionary or does it just manage the nodes on the bus (ex. motors), as it can be used as a stand-alone ROS ...
user avatar
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1 answer
16 views

Running a canopen node using only canopen_chain_node and canopen_master

Hi, I have recently startet using ros_canopen, but I have a hard time figuring out how it works exactly. Currently I am controlling my robot using socketcan_bridge (socketcan_to_topic and ...
user avatar
0 votes
1 answer
18 views

roscanopen + cyclic position mode + nanotec controller

Hello all, I have a nanotec integrated servo controller (the PD6-CB87S048030-E-09), with support for CanOpen in DS402 profile. I am wondering about the cyclic synchronous position mode, which is ...
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0 votes
1 answer
5 views

Schunk_lwa4p initialization error with ros_canopen

Hello, I am trying to run the schunk lwa4p arm with ros_canopen package but was not able to initialize the robot. The nodes are running and the can is set up but the rosservice call /arm/driver/init ...
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1 answer
6 views

Correct usage of socketcan_interface - hex2dec

I've recently started using the socketCAN_interface component of ros_canopen to get data from a Kuebler encoder. My code is ...
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0 votes
1 answer
10 views

"Node has emergency error" : Issue on Lwa4D

Hello, I try to set up a Schunk Lwa4d with PG70 gripper, using: H/W: Schunk Lwa4d Schunk Pg70 gripper Peak CAN-USB interface device S/W: Ubuntu 14.04 (Kernel 4.4.0-31-generic) ROS Indigo ...
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0 votes
1 answer
6 views

Difference between kacanopen and ros_canopen?

I'm attempting to get the output from a Kuebler 5868 draw wire encoder into ROS. The 5868 encoder is a CANOpen device that outputs the draw wire position over the CANbus. My setup is Indigo running on ...
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1 answer
6 views

ros_canopen dcf_overlay setting

Hi, I'm using ros_canopen to control my robot. The joint_position_controller works but I get stuck with joint_trajectory_controller. I set PDO mapping through dcf_overlay : ...
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1 answer
1 view

Mapping between PWM counts and joint angle in ros_canopen

I'm using ros_canopen, which is an awsome package, to communicate with my robot. By far, I modified the below yaml parameters to deal with the mapping between PWM counts and jont angle. ...
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1 answer
24 views

ROS_CANopen can't start velocity_controller and trajectory_controller

Hi, I am working with ros_canopen to control a robot arm. The arm uses Copley drives. Please check out the github repo that I'm working on here. The position controller (point to point move) works ...
user avatar
0 votes
1 answer
7 views

canopen chain node exit with error code -11 at start

I am trying to connect to an link[http://www.a-m-c.com/download/datasheet/dzcante-060l080.pdf "AMC DZCante 60L080"]. I know that I am connecting to the can bus as i can run socketcam_dump ...
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